JP7047091B2 - ロボットアーム用のアクティブバック駆動 - Google Patents

ロボットアーム用のアクティブバック駆動 Download PDF

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Publication number
JP7047091B2
JP7047091B2 JP2020525972A JP2020525972A JP7047091B2 JP 7047091 B2 JP7047091 B2 JP 7047091B2 JP 2020525972 A JP2020525972 A JP 2020525972A JP 2020525972 A JP2020525972 A JP 2020525972A JP 7047091 B2 JP7047091 B2 JP 7047091B2
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Japan
Prior art keywords
joint
signal
movable joint
frequency
friction
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JP2020525972A
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English (en)
Japanese (ja)
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JP2021502264A (ja
Inventor
レンビン チョウ
コサリ シナ ニア
デニス モーゼズ
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Verb Surgical Inc
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Verb Surgical Inc
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41078—Backlash acceleration compensation when inversing, reversing direction

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
JP2020525972A 2017-12-11 2017-12-11 ロボットアーム用のアクティブバック駆動 Active JP7047091B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2017/065636 WO2019117855A1 (en) 2017-12-11 2017-12-11 Active backdriving for a robotic arm

Publications (2)

Publication Number Publication Date
JP2021502264A JP2021502264A (ja) 2021-01-28
JP7047091B2 true JP7047091B2 (ja) 2022-04-04

Family

ID=66820524

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2020525972A Active JP7047091B2 (ja) 2017-12-11 2017-12-11 ロボットアーム用のアクティブバック駆動

Country Status (7)

Country Link
EP (1) EP3684284A4 (de)
JP (1) JP7047091B2 (de)
KR (1) KR102422334B1 (de)
CN (1) CN111655185B (de)
AU (1) AU2017443223B2 (de)
CA (1) CA3079347C (de)
WO (1) WO2019117855A1 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019120157B3 (de) * 2019-07-25 2020-08-20 Franka Emika Gmbh Verifikation eines Massemodells eines Robotermanipulators
KR102479904B1 (ko) * 2020-10-21 2022-12-21 주식회사 뉴로메카 다자유도 로봇의 마찰보상 시스템 및 마찰보상 방법
TWI764377B (zh) * 2020-11-16 2022-05-11 達明機器人股份有限公司 機器人安全補償重量的系統及方法
CN114714364B (zh) * 2022-05-26 2023-05-09 成都卡诺普机器人技术股份有限公司 机器人关节摩擦力补偿调节方法、机器人摩擦力补偿方法
GB2621587A (en) * 2022-08-15 2024-02-21 Cmr Surgical Ltd Control of a surgical robot arm

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060041249A1 (en) 1999-04-07 2006-02-23 Intuitive Surgical, Inc., A Delaware Corporation Friction compensation in a minimally invasive surgical apparatus
US20080238391A1 (en) 2007-03-30 2008-10-02 Kyle Shawn Williams Current drive circuit and method
US20090005913A1 (en) 2004-10-06 2009-01-01 Jose Cruz Kissler Fernandez Method and Device for Determining a PWM Signal on Which a Dither Frequency is Superimposed in Order to Control a Solenoid Valve
WO2010090059A1 (ja) 2009-02-03 2010-08-12 オリンパスメディカルシステムズ株式会社 マニピュレータ
WO2017014216A1 (ja) 2015-07-21 2017-01-26 アイシン・エィ・ダブリュ株式会社 制御装置
JP2017078498A (ja) 2015-10-22 2017-04-27 株式会社日本自動車部品総合研究所 バルブ装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4134812B2 (ja) * 2003-05-20 2008-08-20 株式会社安川電機 ロボット制御装置
US7819859B2 (en) * 2005-12-20 2010-10-26 Intuitive Surgical Operations, Inc. Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator
US9895813B2 (en) * 2008-03-31 2018-02-20 Intuitive Surgical Operations, Inc. Force and torque sensing in a surgical robot setup arm
EP2602676A1 (de) * 2011-12-08 2013-06-12 Siemens Aktiengesellschaft Bestimmen von reibungskomponenten eines antriebssystems
US9226767B2 (en) * 2012-06-29 2016-01-05 Ethicon Endo-Surgery, Inc. Closed feedback control for electrosurgical device
US9226796B2 (en) * 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
KR102023910B1 (ko) * 2012-11-23 2019-09-23 삼성전자주식회사 로봇 및 로봇의 마찰 보상 방법
KR102157281B1 (ko) * 2013-03-29 2020-09-17 파나소닉 아이피 매니지먼트 가부시키가이샤 모터 구동 장치의 서보 조정 방법
JP2015093141A (ja) * 2013-11-14 2015-05-18 セイコーエプソン株式会社 ロボット手術装置、およびロボット手術装置用流体噴射装置
EP3463152A4 (de) * 2016-06-03 2020-01-22 Covidien LP Robotische chirurgische anordnungen und instrumentenantriebseinheiten dafür
CN107097233A (zh) * 2017-04-17 2017-08-29 珞石（山东）智能科技有限公司 一种无力矩传感器的工业机器人拖动示教方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060041249A1 (en) 1999-04-07 2006-02-23 Intuitive Surgical, Inc., A Delaware Corporation Friction compensation in a minimally invasive surgical apparatus
US20090005913A1 (en) 2004-10-06 2009-01-01 Jose Cruz Kissler Fernandez Method and Device for Determining a PWM Signal on Which a Dither Frequency is Superimposed in Order to Control a Solenoid Valve
US20080238391A1 (en) 2007-03-30 2008-10-02 Kyle Shawn Williams Current drive circuit and method
WO2010090059A1 (ja) 2009-02-03 2010-08-12 オリンパスメディカルシステムズ株式会社 マニピュレータ
WO2017014216A1 (ja) 2015-07-21 2017-01-26 アイシン・エィ・ダブリュ株式会社 制御装置
JP2017078498A (ja) 2015-10-22 2017-04-27 株式会社日本自動車部品総合研究所 バルブ装置

Also Published As

Publication number Publication date
CN111655185A (zh) 2020-09-11
AU2017443223A1 (en) 2020-05-07
CA3079347A1 (en) 2019-06-20
KR20200074150A (ko) 2020-06-24
CN111655185B (zh) 2023-12-05
AU2017443223B2 (en) 2020-12-03
CA3079347C (en) 2022-09-06
EP3684284A1 (de) 2020-07-29
EP3684284A4 (de) 2020-09-16
BR112020008591A2 (pt) 2020-10-20
KR102422334B1 (ko) 2022-07-20
WO2019117855A1 (en) 2019-06-20
JP2021502264A (ja) 2021-01-28

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